Copter: Guard External Control with a define

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
ArduPilot · Aug 10, 2023 · bc92988 · bc92988
1 parent 84a4942
commit bc92988
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Showing 4 changed files with 23 additions and 1 deletion.
diff --git a/ArduCopter/AP_ExternalControl_Copter.cpp b/ArduCopter/AP_ExternalControl_Copter.cpp
@@ -2,8 +2,11 @@
   external control library for copter
  */
 
-#include "Copter.h"
+
 #include "AP_ExternalControl_Copter.h"
+#if AP_EXTERNAL_CONTROL_ENABLED
+
+#include "Copter.h"
 
 /*
   set linear velocity and yaw rate. Pass NaN for yaw_rate_rads to not control yaw
@@ -21,3 +24,5 @@ bool AP_ExternalControl_Copter::set_linear_velocity_and_yaw_rate(const Vector3f
     copter.mode_guided.set_velocity(velocity_up_cms, false, 0, !isnan(yaw_rate_rads), yaw_rate_cds);
     return true;
 }
+
+#endif // AP_EXTERNAL_CONTROL_ENABLED
diff --git a/ArduCopter/AP_ExternalControl_Copter.h b/ArduCopter/AP_ExternalControl_Copter.h
@@ -5,6 +5,8 @@
 
 #include <AP_ExternalControl/AP_ExternalControl.h>
 
+#if AP_EXTERNAL_CONTROL_ENABLED
+
 class AP_ExternalControl_Copter : public AP_ExternalControl {
 public:
     /*
@@ -14,3 +16,5 @@ class AP_ExternalControl_Copter : public AP_ExternalControl {
      */
     bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity, float yaw_rate_rads) override;
 };
+
+#endif // AP_EXTERNAL_CONTROL_ENABLED
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -99,7 +99,11 @@
 #include "GCS_Copter.h"
 #include "AP_Rally.h"           // Rally point library
 #include "AP_Arming.h"
+
+#include <AP_ExternalControl/AP_ExternalControl_config.h>
+#if AP_EXTERNAL_CONTROL_ENABLED
 #include "AP_ExternalControl_Copter.h"
+#endif
 
 #include <AP_Beacon/AP_Beacon_config.h>
 #if AP_BEACON_ENABLED
@@ -194,7 +198,9 @@ class Copter : public AP_Vehicle {
     friend class AP_AdvancedFailsafe_Copter;
 #endif
     friend class AP_Arming_Copter;
+#if AP_EXTERNAL_CONTROL_ENABLED
     friend class AP_ExternalControl_Copter;
+#endif
     friend class ToyMode;
     friend class RC_Channel_Copter;
     friend class RC_Channels_Copter;
@@ -322,7 +328,10 @@ class Copter : public AP_Vehicle {
 #endif
 
     // external control library
+#if AP_EXTERNAL_CONTROL_ENABLED
     AP_ExternalControl_Copter external_control;
+#endif
+
 
     // system time in milliseconds of last recorded yaw reset from ekf
     uint32_t ekfYawReset_ms;

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -2,6 +2,7 @@
 
 #include "Copter.h"
 #include <AP_Math/chirp.h>
+#include <AP_ExternalControl/AP_ExternalControl_config.h> // TODO why is this needed if Copter.h includes this
 class Parameters;
 class ParametersG2;
 
@@ -957,7 +958,10 @@ class ModeFlowHold : public Mode {
 class ModeGuided : public Mode {
 
 public:
+#if AP_EXTERNAL_CONTROL_ENABLED
     friend class AP_ExternalControl_Copter;
+#endif
+
     // inherit constructor
     using Mode::Mode;
     Number mode_number() const override { return Number::GUIDED; }